CN104898693A - UAV inspection system - Google Patents
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- CN104898693A CN104898693A CN201510241271.0A CN201510241271A CN104898693A CN 104898693 A CN104898693 A CN 104898693A CN 201510241271 A CN201510241271 A CN 201510241271A CN 104898693 A CN104898693 A CN 104898693A
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- 238000007689 inspection Methods 0.000 title claims abstract description 44
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Abstract
The present invention relates to the field of UAV operation maintenance, and particularly relates to a UAV inspection system. A ground control terminal can carry out two-way communication with a task helicopter which carries out an inspection task through a relay helicopter, thus the functions of image data transmission and the fly control of the task helicopter are realized, and the fly control distance of an UAV is greatly improved. At the same time, according to the technical scheme, a 126cc water-cooled engine is used to the defects of insufficient power, small load capacity and short life of an 80cc engine, a 200W engine and a rectifier filter module are installed according to a vehicle generation principle, the problem of power supply needed by airborne equipment is solved to a certain extent, and on the whole, the UAV inspection system has the advantages of long fly time, long distance operation across mountains and high adaptability.
Description
Technical field
The present invention relates to the operating maintenance field of unmanned plane, refer more particularly to a kind of unmanned plane cruising inspection system.
Background technology
At present, the transmission line of electricity of China's national grid and south electric network more than 110 kilovolts has reached nearly more than 50 ten thousand kilometers.Traditional artificial line walking mode can not meet the widespread demand of modern power systems, and the birth of unmanned plane line walking makes line walking improved efficiency very remarkable, particularly unmanned plane line walking is especially applicable to being applied on the transmission line of electricity (applicable equally for other maintenance object) in the areas such as mountain area, lake, mining area, when disaster causes that road blocked, personnel cannot patrol and examine, these areas are with a varied topography, artificial line walking mode is expert at time-consuming many on access road, efficiency is low, unmanned plane can play substitution effect, and visual angle is wider, can avoid " blind spot ".
At present, national grid list rotor unmanned helicopter cruising inspection system type selecting index: useful load 10 kilograms, 50 minutes cruising time, distance flight command range 5 kilometers.This index far can not be suitable for the major demands of electrical network mountainous environment over the horizon in actual applications, its concrete reason is except under the environment on many mountains, the wireless communication signal of unmanned plane cruising inspection system can be subject to decay in various degree, because of unmanned plane as one on a large scale in operation purposes, if receive wireless transmission restriction, can greatly reduce its operating efficiency; Its main cause also comprises: 1, cruising time is short, and because depopulated helicopter cruising inspection system mostly adopts 80cc air cooling engine, horsepower is little, and flying for long time cylinder temperature is high, affects engine life, has hidden danger; 2, the command range that flies is short, because depopulated helicopter cruising inspection system flight control need pass device and improve flight command range by means of employing number biography, figure, by the restriction of depopulated helicopter physical dimension, airborne number passes, figure passes device and can not do very large, which limits depopulated helicopter cruising inspection system flight command range; 3, do not have airborne generating, cannot provide power supply needed for enough airborne equipment, trunking can not get better application.
Therefore, need a kind of novel technical solution badly and become the direction that those skilled in the art are devoted to research.
Summary of the invention
The present invention, for overcoming deficiency of the prior art, provides a kind of unmanned plane cruising inspection system being applicable to mountain area complex environment landform, weather environment, when this unmanned plane cruising inspection system has a long boat, across advantages such as mountain area long distance work and strong adaptabilities.
The present invention for solving the problems of the technologies described above adopted technical scheme is:
A kind of unmanned plane cruising inspection system, be applied to and patrol and examine in operation to maintenance object, wherein, described unmanned plane cruising inspection system comprises:
Ground control terminal;
Relaying helicopter, communicates to connect with described ground control terminal;
Task helicopter, communicates to connect with described relaying helicopter;
Wherein, described task helicopter receives a DC instruction of described ground control terminal transmission by described relaying helicopter, and according to this DC instruction, the realtime image data obtaining described maintenance object is patrolled and examined to described maintenance object, this realtime image data is sent to described ground control terminal by described relaying helicopter simultaneously.
Preferably, above-mentioned unmanned plane cruising inspection system, wherein, is provided with image relay equipment and number biography trunking in described relaying helicopter;
Described number passes trunking for realizing the data interaction between described ground control terminal and described task helicopter;
The realtime image data that described image relay equipment is used for described task helicopter sends is forwarded to described ground control terminal.
Preferably, above-mentioned unmanned plane cruising inspection system, wherein, is provided with the equipment of taking photo by plane and image emissions machine equipment in described task helicopter;
Described equipment of taking photo by plane is for receiving the described DC instruction of described relaying helicopter forwarding to patrol and examine described maintenance object and to obtain described realtime image data;
Described image emissions machine equipment is used for receiving and being sent in described relaying helicopter by described realtime image data.
Preferably, above-mentioned unmanned plane cruising inspection system, wherein, described ground control terminal is by the state of flight of task helicopter described in described relaying helicopter monitor and forecast.
Preferably, above-mentioned unmanned plane cruising inspection system, wherein, described ground control terminal downloads the flying quality of described task helicopter to monitor the state of flight of described task helicopter by described relaying helicopter, and described ground control terminal is uploaded flight steering order and is sent in described task helicopter by described relaying helicopter, to control the state of flight of described task helicopter.
Preferably, above-mentioned unmanned plane cruising inspection system, wherein, is provided with 126cc water-cooled engine in described task helicopter;
Described 126cc water-cooled engine is used for providing kinetic energy to the empennage of task helicopter and main rotor.
Preferably, above-mentioned unmanned plane cruising inspection system, wherein, is provided with generator and rectification filtering module in described task helicopter;
Described 126cc water-cooled engine provides electric energy by described generator and described rectification filtering module to described task helicopter, normally works to make it.
Preferably, above-mentioned unmanned plane patrols and examines system, wherein, is provided with communicator in described ground control terminal, described relaying helicopter and described task helicopter;
Described communicator is for realizing described ground control terminal, communication connection between described relaying helicopter and described task helicopter.
Preferably, above-mentioned unmanned plane cruising inspection system, wherein, described communicator is communication station.
Technique scheme tool has the following advantages or beneficial effect:
The invention provides a kind of unmanned plane cruising inspection system, be applied to maintenance object patrol and examine in operation, ground control terminal carries out two-way communication by relaying helicopter and the task helicopter carrying out patrolling and examining operation, and then the function such as the flight control realizing image data transmission and task helicopter, substantially increase the flight command range of unmanned plane, technical solution of the present invention is not enough because adopting 126cc water-cooled engine to solve 80cc engine power simultaneously, load capacity is less than normal and the life-span is short sunken, and install a 200W generator and rectification filtering module additional with reference to automobile generating principle, solve power issue needed for airborne equipment to a certain extent, generally, when this unmanned plane cruising inspection system has long boat, across advantages such as mountain area long distance work and strong adaptabilities.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, the present invention and feature, profile and advantage will become more apparent.Mark identical in whole accompanying drawing indicates identical part.Proportionally can not draw accompanying drawing, focus on purport of the present invention is shown.
Fig. 1 is the structural representation of unmanned plane cruising inspection system in the present invention;
Fig. 2 is the structural representation of the transmission line of electricity of unmanned plane cruising inspection system in the present invention.
Embodiment
In the following description, a large amount of concrete details is given to provide more thorough understanding of the invention.But, it is obvious to the skilled person that the present invention can be implemented without the need to these details one or more.In other example, in order to avoid obscuring with the present invention, technical characteristics more well known in the art are not described.
In order to thoroughly understand the present invention, detailed step and detailed structure will be proposed in following description, to explain technical scheme of the present invention.Preferred embodiment of the present invention is described in detail as follows, but except these are described in detail, the present invention can also have other embodiments.
For solving many defects such as unmanned plane cruising inspection system adaptability is weak, endurance distance is short in prior art, the invention provides a kind of novel unmanned plane cruising inspection system, ground control terminal in this UAS carries out two-way communication by relaying helicopter and the task helicopter carrying out patrolling and examining operation, and then realize the function such as flight control of image data transmission and task helicopter, when therefore there is long boat, across advantages such as mountain area long distance work and strong adaptabilities
Concrete, the structural representation of unmanned plane cruising inspection system as shown in Figure 1, mainly includes:
Ground control terminal (being commonly called as land station), for sending a DC instruction;
Relaying helicopter, communicates to connect with ground control terminal, for receive and forward ground control terminal send DC instruction;
Task helicopter, communicates to connect with relaying helicopter, for receiving the DC instruction that relaying helicopter forwards;
Wherein, task helicopter patrols and examines shooting to obtain realtime image data according to DC instruction to maintenance object, and realtime image data is sent to ground control terminal by relaying helicopter, and then realizes patrolling and examining operation to what overhaul object.In enforcement of the present invention, this system is applied to and patrols and examines in operation to the electrical network (maintenance object wherein a kind of) in mountainous environment, but, those skilled in the art should be understood to, electrical network is as just the one in maintenance object, unmanned plane cruising inspection system in the embodiment of the present invention adapts to equally for other maintenance object, and does not all have any impact to substance of the present invention.
In an embodiment of the present invention, the monolateral observing and controlling maximum distance that task rises straight machine and relaying helicopter can reach 15 kilometers (ground surveys 20 kilometers), the monolateral observing and controlling maximum distance of relaying helicopter and ground control terminal can reach 15 kilometers (ground surveys 20 kilometers), adopt this programme can formation flight, can realize across many mountain areas long distance work, certainly, when close together, land station can directly patrol and examine by control task helicopter.
In an embodiment of the present invention, relaying helicopter is aloft unsettled; Because task helicopter mainly flies in mountainous environment in traditional cruising inspection system, the environment on many mountains can cause interference to the communication signal between land station and task helicopter, and then constrains scope of work and the advantage of traditional cruising inspection system.In the present embodiment, by by relaying helicopter flight aloft, and as a relay transmission device, namely ground control terminal is connected with the communication of task helicopter by relaying helicopter, therefore avoids mountainous environment and weakens the obstruction of communication signal.
Of the present invention one optional but in nonrestrictive embodiment, preferably, be provided with communicator in ground control terminal, relaying helicopter and task helicopter, the communication modes between it is all realized by the communicator of correspondence, preferably, this communicator is communication station.
Of the present invention one optional but in nonrestrictive embodiment, be provided with image relay equipment in relaying helicopter and number passes trunking; The equipment of taking photo by plane and image emissions machine equipment is provided with, as shown in Figure 2 in task helicopter.
Wherein, image relay equipment and number pass trunking and are all connected with ground control terminal, equipment connection, image emissions machine equipment and image relay equipment connection and take photo by plane equipment and several crossing continue.The number that a DC instruction is sent to relaying helicopter by ground control terminal passes trunking, number passes trunking and takes photo by plane in equipment what instruction is forwarded to task helicopter, in an embodiment of the present invention, after the equipment of taking photo by plane receives DC instruction, electrical network patrolled and examined and take Image Acquisition realtime image data; Equally, obtained realtime image data is being sent in image relay equipment by image emissions machine equipment, and this realtime image data is being sent to ground control terminal by image relay equipment, and then by ground control terminal Real-Time Monitoring electrical network.
In an embodiment of the present invention, on the one hand, because the engine loaded in task helicopter is 126cc water-cooled engine, it is mainly used in providing kinetic energy to the empennage of task helicopter and main rotor, for its flight provides enough power, this 126cc water-cooled engine has the advantages that power is sufficient, load capacity is large and serviceable life is longer, and the working range being convenient to cruising inspection system improves.On the other hand, with reference to the principle of automobile generating, generator and rectification filtering module is provided with in task helicopter, 126cc water-cooled engine provides electric energy by this generator and rectification filtering module to task helicopter, normally work to make it, solve power issue needed for traditional airborne equipment, be convenient to strengthen it to a certain extent and patrol and examine ability.
In the embodiment of the present invention, ground control terminal can also by the flight control system of relaying helicopter monitor and forecast task helicopter with the state of flight of control task helicopter, such as: ground control terminal downloads the flying quality communicating with the task helicopter of connection by relaying helicopter, and then the state of flight of monitor task helicopter, and ground control terminal can also one upload flight steering order be sent in task helicopter by relaying helicopter, and then realize the function of state of flight of control task helicopter, therefore, by Real-Time Monitoring and control task helicopter, to utilize the aerial detection angles advantage of self uniqueness, take image from different perspectives, make to patrol and examine data information more complete.
In sum, the invention provides a kind of unmanned plane cruising inspection system, be applied to maintenance object patrol and examine in operation, ground control terminal carries out two-way communication by relaying helicopter and the task helicopter carrying out patrolling and examining operation, and then the function such as the flight control realizing image data transmission and task helicopter, substantially increase the flight command range of unmanned plane, technical solution of the present invention is not enough because adopting 126cc water-cooled engine to solve 80cc engine power simultaneously, load capacity is less than normal and the life-span is short sunken, and install a 200W generator and rectification filtering module additional with reference to automobile generating principle, solve power issue needed for airborne equipment to a certain extent, generally, when this unmanned plane cruising inspection system has long boat, across advantages such as mountain area long distance work and strong adaptabilities.
It should be appreciated by those skilled in the art that those skilled in the art are realizing described change case in conjunction with prior art and above-described embodiment, do not repeat at this.Such change case does not affect flesh and blood of the present invention, does not repeat them here.
Above preferred embodiment of the present invention is described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, the equipment wherein do not described in detail to the greatest extent and structure are construed as to be implemented with the common mode in this area; Any those of ordinary skill in the art, do not departing under technical solution of the present invention ambit, the Method and Technology content of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solution of the present invention, or being revised as the Equivalent embodiments of equivalent variations, this does not affect flesh and blood of the present invention.Therefore, every content not departing from technical solution of the present invention, according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solution of the present invention protection.
Claims (9)
1. a unmanned plane cruising inspection system, be applied to maintenance object patrol and examine in operation, it is characterized in that, described unmanned plane cruising inspection system comprises:
Ground control terminal;
Relaying helicopter, communicates to connect with described ground control terminal;
Task helicopter, communicates to connect with described relaying helicopter;
Wherein, described task helicopter receives a DC instruction of described ground control terminal transmission by described relaying helicopter, and according to this DC instruction, the realtime image data obtaining described maintenance object is patrolled and examined to described maintenance object, this realtime image data is sent to described ground control terminal by described relaying helicopter simultaneously.
2. unmanned plane cruising inspection system as claimed in claim 1, is characterized in that, is provided with image relay equipment and number biography trunking in described relaying helicopter;
Described number passes trunking for realizing the data interaction between described ground control terminal and described task helicopter;
The realtime image data that described image relay equipment is used for described task helicopter sends is forwarded in the control terminal of described ground.
3. unmanned plane cruising inspection system as claimed in claim 1, is characterized in that, be provided with the equipment of taking photo by plane and image emissions machine equipment in described task helicopter;
Described equipment of taking photo by plane is for receiving the described DC instruction of described relaying helicopter forwarding to patrol and examine described maintenance object and to obtain described realtime image data;
Described image emissions machine equipment is used for receiving and being sent in described relaying helicopter by described realtime image data.
4. unmanned plane cruising inspection system as claimed in claim 1, it is characterized in that, described ground control terminal is by the state of flight of task helicopter described in described relaying helicopter monitor and forecast.
5. unmanned plane cruising inspection system as claimed in claim 4, it is characterized in that, described ground control terminal downloads the flying quality of described task helicopter to monitor the state of flight of described task helicopter by described relaying helicopter, and described ground control terminal is uploaded flight steering order and is sent in described task helicopter by described relaying helicopter, to control the state of flight of described task helicopter.
6. unmanned plane cruising inspection system as claimed in claim 1, is characterized in that, be provided with 126cc water-cooled engine in described task helicopter;
Described 126cc water-cooled engine is used for providing kinetic energy to the empennage of task helicopter and main rotor.
7. unmanned plane cruising inspection system as claimed in claim 6, is characterized in that, be provided with generator and rectification filtering module in described task helicopter;
Described 126cc water-cooled engine provides electric energy by described generator and described rectification filtering module to described task helicopter, normally works to make it.
8. unmanned plane as claimed in claim 1 patrols and examines system, it is characterized in that, is provided with communicator in described ground control terminal, described relaying helicopter and described task helicopter;
Described communicator is for realizing described ground control terminal, communication connection between described relaying helicopter and described task helicopter.
9. unmanned plane cruising inspection system as claimed in claim 8, it is characterized in that, described communicator is communication station.
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105242686A (en) * | 2015-11-13 | 2016-01-13 | 南京衡创天伟无人机技术有限公司 | Unmanned aerial vehicle aerial photo system and method |
| CN106878688A (en) * | 2017-04-17 | 2017-06-20 | 浙江南瑞飞翼航空技术有限公司 | Unmanned plane image processing system |
| CN106921426A (en) * | 2015-12-25 | 2017-07-04 | 顺丰科技有限公司 | The means of communication and system of a kind of unmanned plane |
| CN107104723A (en) * | 2017-05-02 | 2017-08-29 | 南京理工大学 | Electric automobile information wireless collection system based on unmanned plane |
| CN107370935A (en) * | 2016-05-11 | 2017-11-21 | 深圳航天旭飞科技有限公司 | Panorama shooting device |
| CN107908163A (en) * | 2017-11-15 | 2018-04-13 | 广东容祺智能科技有限公司 | A kind of unmanned plane Reconnaissance system based on unmanned naval vessels |
| CN108496133A (en) * | 2017-06-30 | 2018-09-04 | 深圳市大疆创新科技有限公司 | Relay the control method and relaying unmanned plane of unmanned plane |
| CN109035837A (en) * | 2018-08-22 | 2018-12-18 | 于小龙 | A kind of intelligent transportation system test method based on unmanned plane |
| WO2019104631A1 (en) * | 2017-11-30 | 2019-06-06 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle system and communication method |
| CN110766983A (en) * | 2019-11-01 | 2020-02-07 | 深圳市科卫泰实业发展有限公司 | A Distributed UAV System Command and Control System |
| CN111984030A (en) * | 2020-07-06 | 2020-11-24 | 桂林理工大学 | Linear and three-dimensional modeling analysis method for detecting underground pipeline by utilizing manually-controlled unmanned aerial vehicle |
| CN112468994A (en) * | 2020-12-01 | 2021-03-09 | 国网福建省电力有限公司电力科学研究院 | Power line inspection unmanned aerial vehicle air networking communication system and method |
| CN115604676A (en) * | 2022-09-14 | 2023-01-13 | 四川一电航空技术有限公司（Cn） | Gateway device |
| CN116301057A (en) * | 2023-05-09 | 2023-06-23 | 山东智航智能装备有限公司 | Unmanned aerial vehicle inspection system and method |
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| CN106878688A (en) * | 2017-04-17 | 2017-06-20 | 浙江南瑞飞翼航空技术有限公司 | Unmanned plane image processing system |
| CN107104723A (en) * | 2017-05-02 | 2017-08-29 | 南京理工大学 | Electric automobile information wireless collection system based on unmanned plane |
| CN108496133B (en) * | 2017-06-30 | 2021-05-04 | 深圳市大疆创新科技有限公司 | Control method of relay unmanned aerial vehicle and relay unmanned aerial vehicle |
| CN108496133A (en) * | 2017-06-30 | 2018-09-04 | 深圳市大疆创新科技有限公司 | Relay the control method and relaying unmanned plane of unmanned plane |
| CN107908163A (en) * | 2017-11-15 | 2018-04-13 | 广东容祺智能科技有限公司 | A kind of unmanned plane Reconnaissance system based on unmanned naval vessels |
| WO2019104631A1 (en) * | 2017-11-30 | 2019-06-06 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle system and communication method |
| CN109035837A (en) * | 2018-08-22 | 2018-12-18 | 于小龙 | A kind of intelligent transportation system test method based on unmanned plane |
| CN110766983A (en) * | 2019-11-01 | 2020-02-07 | 深圳市科卫泰实业发展有限公司 | A Distributed UAV System Command and Control System |
| CN111984030A (en) * | 2020-07-06 | 2020-11-24 | 桂林理工大学 | Linear and three-dimensional modeling analysis method for detecting underground pipeline by utilizing manually-controlled unmanned aerial vehicle |
| CN112468994A (en) * | 2020-12-01 | 2021-03-09 | 国网福建省电力有限公司电力科学研究院 | Power line inspection unmanned aerial vehicle air networking communication system and method |
| CN112468994B (en) * | 2020-12-01 | 2024-01-23 | 国网福建省电力有限公司电力科学研究院 | Aerial networking communication system and method for power line inspection unmanned aerial vehicle |
| CN115604676A (en) * | 2022-09-14 | 2023-01-13 | 四川一电航空技术有限公司（Cn） | Gateway device |
| CN116301057A (en) * | 2023-05-09 | 2023-06-23 | 山东智航智能装备有限公司 | Unmanned aerial vehicle inspection system and method |
| CN116301057B (en) * | 2023-05-09 | 2023-09-26 | 山东智航智能装备有限公司 | Unmanned aerial vehicle inspection system and method |
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